KR101633618B1 - Adapter for surgical robot - Google Patents

Adapter for surgical robot Download PDF

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Publication number
KR101633618B1
KR101633618B1 KR1020150080177A KR20150080177A KR101633618B1 KR 101633618 B1 KR101633618 B1 KR 101633618B1 KR 1020150080177 A KR1020150080177 A KR 1020150080177A KR 20150080177 A KR20150080177 A KR 20150080177A KR 101633618 B1 KR101633618 B1 KR 101633618B1
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South Korea
Prior art keywords
pulley wheel
guide
wheel
base plate
adapter
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KR1020150080177A
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Korean (ko)
Inventor
심진아
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(주)미래컴퍼니
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Publication of KR101633618B1 publication Critical patent/KR101633618B1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/70—Cleaning devices specially adapted for surgical instruments

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)

Abstract

An adapter structure for a surgical robot is disclosed. A structure of an adapter interposed between a surgical instrument and a surgical robot to mediate driving force from a main wheel provided on a surgical robot to a driven wheel provided on a surgical instrument, A tube-shaped guide arranged on the other surface of the base plate so as to be positioned at the outer periphery of the first through-hole, and a base plate through which the surgical instrument is inserted into the base through the first through- And a second through hole corresponding to the position of the pulley wheel is pierced so that the other surface of the pulley wheel is exposed through the second through hole, The adapter structure for a surgical robot, which includes a cover plate coupled to the plate, So that by, by making the adapter before the mounting the pulley wheel is already aligned, thereby reducing unnecessary time and effort.

Description

Adapters for surgical robots {Adapter for surgical robot}

The present invention relates to an adapter structure for a surgical robot.

Medically, surgery refers to the repair of a skin, mucous membrane, or other tissue that is cut, torn or manipulated using a medical device. Particularly, due to problems such as hemorrhage, side effects, patient's pain, scarring, etc., the incision is made by cutting the skin of the surgical site and opening, treating, And is attracting attention as an alternative.

The surgical robot may be divided into a master unit for generating and transmitting a signal required by a physician's operation and a slave unit for receiving signals from the operation unit and applying operations necessary for surgery to the patient. And the slave unit may be divided into respective parts of one surgical robot, or they may be separately provided as separate units, that is, the operation unit may be a master robot and the driving unit may be divided into slave robots, respectively.

The surgical robot is provided with a robot arm for performing various operations for surgery, and an instrument holder is formed at the distal end of the robot arm so that a surgical instrument can be mounted. In order to mount the instrument on the robot arm, the instrument is mounted on the robot arm in such a manner that a sterile adapter is attached to the instrument holder and the housing of the instrument is inserted into the sterilizing adapter.

A driving wheel for transmitting the driving force generated by the robot to the instrument is formed in the instrument holder. A driving wheel for transmitting the driving force to the instrument is formed. The driving wheel formed on the instrument holder and the driving wheel formed on the instrument holder A matching wheel is formed.

When the sterilizing adapter and the sterilizing adapter are mounted on the instrument holder and the sterilizing adapter so that the wheel structures are matched with each other, the driving force generated by the robot is transmitted to the instrument through the sterilizing adapter, and the wire connected to the driving wheel of the instrument is coupled to the distal end of the instrument By transferring the driving force to the effector, the effector is moved to perform various operations required for the operation.

Thus, a sterilizing adapter is interposed between the surgical robot arm and the instrument mounted thereon, and a coupling structure with the robot arm and the instrument is implemented in the sterilizing adapter.

Conventionally, since the wheel provided to the adapter is manually aligned before mounting the sterilizing adapter, the instrument must be mounted on the instrument holder and the instrument must be mounted on the sterilizing adapter. Therefore, unnecessary time and effort for aligning the wheel have been consumed. It is troublesome to rearrange and mount it.

The above-described background technology is technical information that the inventor holds for the derivation of the present invention or acquired in the process of deriving the present invention, and can not necessarily be a known technology disclosed to the general public prior to the filing of the present invention.

US Patent No. 8,220,468 discloses a sterile drape interface structure interposed between a surgical robot and an instrument mounted thereon. U.S. Patent Nos. US 8,206,406 and US 8,216,250 disclose a pulley of an instrument wheel and an interface pulley And a projection, a groove, and a guide are formed for alignment and alignment.

Patent Document 1: United States Patent No. 8,220,468 Patent Document 2: U.S. Patent No. 8,206,406 Patent Document 3: U.S. Patent No. 8,216,250

An object of the present invention is to provide an adapter structure for a surgical robot capable of automatically aligning a pulley wheel in a manufacturing process without having to manually align the wheels.

Other objects of the present invention will become readily apparent from the following description.

According to one aspect of the present invention, there is provided a structure of an adapter interposed between a surgical instrument and a surgical robot to mediate driving force from a main wheel provided in a surgical robot to a driven wheel provided in a surgical instrument, A tube-shaped guide arranged on the other surface of the base plate so as to be positioned at an outer peripheral portion of the first through hole, And a second through hole corresponding to the position of the pulley wheel is pierced so that the other surface of the pulley wheel is inserted into the second through hole through the first through hole And a cover plate coupled to the base plate so as to cover the guide so as to be exposed to the base plate, And a second point located on the side of the cover plate, and an alignment protrusion that is seated on the cam portion is protruded from the outer circumferential surface of the pulley wheel, And the alignment protrusion is housed in the inner peripheral portion of the guide while being rotated so as to be positioned at the first point.

And a fastening structure may be formed on one surface of the base plate so that a surgical instrument is coupled.

A guide is provided on the other surface of the base plate by a spring, a guide is provided with a releasing projection in the direction of the cover plate, a third through hole is formed in the cover plate in correspondence with the position of the releasing projection, According to the combination of the plates, the releasing protrusion can protrude through the third through-hole.

The state in which the alignment protrusion is seated on the cam portion is released as the release projection is pressed so that the guide is in close contact with the base plate, so that the pulley wheel can be freely rotated by the external force.

By coupling the cover plate to the surgical robot, the other face of the pulley wheel exposed through the second through hole is aligned with the main wheel and the releasing projection is pressed, so that the pulley wheel can be rotated in conjunction with the main wheel.

The first point and the second point are formed at intervals of 90 degrees along the inner circumferential surface of the guide, and four first points and four second points arranged alternately at regular intervals exist on the inner circumferential surface of the guide alternately, May be provided on the outer peripheral surface of the pulley wheel at intervals of 90 degrees.

A mating groove is formed on the disc surface of the pulley wheel. A mating protrusion is provided on the driven wheel. When the surgical instrument is coupled to one surface of the base plate, the mating protrusion is inserted into the mating groove, Can be matched.

The matching grooves are formed in a shape of a + character, and the matching protrusions can be projected in a shape of a letter that can be inserted into the matching grooves.

The surgical instrument may be slid in a predetermined coupling direction and coupled to one surface of the base plate, and the cam portion may be shaped to rotate the pulley wheel so that the passage of the matching groove faces the coupling direction.

The adapter may incorporate a sterile drape that covers the surgical robot and blocks it from the surgical instrument.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

According to the embodiment of the present invention, instead of manually aligning the pulley wheels in an unaligned state before mounting the adapter, the pulley wheels are automatically aligned in the adapter manufacturing process, so that the pulley wheels are aligned So that unnecessary time and effort can be saved.

1 is an exploded perspective view showing an adapter structure for a surgical robot according to an embodiment of the present invention;
2 is a perspective view showing a guide and a cam according to an embodiment of the present invention;
3 is a perspective view showing a state in which a guide is disposed according to an embodiment of the present invention;
4 is a perspective view illustrating a state in which a pulley wheel is installed according to an embodiment of the present invention;
5 is a perspective view illustrating a state in which a cover plate according to an embodiment of the present invention is engaged.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Referring to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, .

FIG. 1 is an exploded perspective view illustrating an adapter structure for a surgical robot according to an embodiment of the present invention. FIG. 2 is a perspective view illustrating a guide and a cam according to an embodiment of the present invention. FIG. 4 is a perspective view illustrating a state where a pulley wheel is installed according to an embodiment of the present invention, FIG. 5 is a perspective view illustrating a state in which a cover plate is coupled Fig. 1 to 5, the adapter 1, the base plate 10, the first through hole 12, the guide 20, the spring 22, the cam portion 24, the releasing projection 26, The wheel 30, the alignment protrusion 32, the matching groove 34, the cover plate 40, the second through hole 42, and the third through hole 44 are shown.

The present embodiment relates to a drape interface, or sterile drape, which is used to operatively connect a surgical instrument to a robotic arm, which is a non-sterile operation device of a surgical robot system.

The sterile adapter is coupled to a sterile drape. The sterile adapter covers the surgical robot and blocks the robot from the instrument. The sterile adapter is attached to the robot and acts as an interface between the robot and the instrument.

It is possible to manufacture the sterilizing adapter so that the pulley wheel is automatically aligned before attaching the sterilizing adapter to the robot arm so that it is unnecessary to manually align the wheel in the process of mounting the adapter on the robot arm and mounting the surgical instrument on the adapter As a technical feature.

Further, after the adapter is attached, the restraint state of the pulley automatically aligned is released, so that the driving force is transmitted from the robot arm and the pulley can move freely.

The adapter 1 according to the present embodiment includes a protrusion 32 formed on the outer circumferential surface of a pulley wheel 30 connecting the operation between the robot arm and the instrument and the pulley wheel 30 is connected to a cylindrical guide 20 The pulley wheel 30 can be automatically aligned and maintained in its aligned state by forming a cam shape on the inner circumferential surface of the guide 20.

The guide 20 is supported by the spring 22 and the release protrusion 26 is formed so that the guide 20 can be pushed when the guide arm 20 is mounted on the robot arm. When the adapter 1 is mounted on the robot arm, The guide 20 pressed by the pulley wheel 26 is separated from the pulley wheel 30 so that the alignment state of the pulley wheel 30 is released.

The adapter 1 according to the present embodiment is interposed between a surgical instrument and a surgical robot (specifically, a robot arm), and mediates the driving force from the robot arm to be transmitted to the instrument.

The end of the robot arm is provided with a main wheel rotated and controlled by a surgical robot. The surgical instrument is provided with a driven wheel that is rotated by receiving a driving force from the outside, and a driving force is transmitted to the adapter A pulley wheel (30) is provided which rotates in registration with the main wheel and the driven wheel respectively.

The adapter 1 according to the present embodiment has a pulley wheel 30 disposed between the base plate 10 and the cover plate 40 as shown in Fig. Shaped guide 20, as shown in Fig.

The base plate 10 is a component constituting the basic body of the adapter 1 and can be made of a member having a certain thickness. The first through hole 12 is formed in the base plate 10 in correspondence with the position of the driven wheel. When the pulley wheel 30 is disposed and the cover plate 40 is engaged, (Refer to F1 'in Fig. 1) of the base plate 10 through the first through-hole 12. As shown in Fig.

A surgical instrument is coupled to one surface of the base plate 10. In this process, the pulley wheel 30 exposed on the base plate 10 and the driven wheel provided on the surgical instrument are aligned with each other to transmit the driving force .

A fastening structure is formed on one surface of the coupling base plate 10 so that a surgical instrument can be mounted. As shown in FIG. 4, a fastening structure such as a stopper and a guide rail (see FIG. 4) have. In addition to the illustrated structure, fastening structures of various shapes and structures can be formed.

The guide 20 is a component disposed on the other side of the base plate 10 (refer to 'F2' in FIG. 1), and is formed in the shape of a cylindrical tube or the like. The guide 20 is disposed so as to be positioned on the outer peripheral portion of the first through- . Accordingly, when the pulley wheel 30 to be described later is accommodated in the inner periphery (refer to 'H' in FIG. 1) of the guide 20, one side of the pulley wheel 30 can be exposed through the first through hole 12 have.

The guide 20 according to the present embodiment is characterized in that the cam portion 24 is formed on the inner circumferential surface (refer to 'I' in FIG. 2). 2, the cam portion 24 has a shape corresponding to a first point (refer to 'A' in FIG. 2) located on the side of the base plate 10 and a second point 'B'), and a slope connecting the first point and the second point.

As the cam is formed in such a shape, the pulley wheel 30 seated on the cam moves in the direction of the base plate 10 or in the direction of the cover plate 40, and the guide 20 The pulley wheel 30 is automatically moved (rotating) in the direction of the base plate 10 by the gravity.

In this way, the guide 20 and the cam structure formed on the inner circumferential surface thereof can be used to automatically rotate the pulley wheel 30 in a desired position and direction during the installation of the pulley wheel 30, .

More specifically, the first point A and the second point B constituting the cam portion 24 are arranged at four positions at intervals of 90 degrees along the inner circumferential surface of the guide 20 as shown in FIG. 2, The first point A, the second point B, the first point A, the second point B, the first point A, and the second point B at intervals of 45 degrees along the inner peripheral surface. By arranging four alignment projections 32 at an interval of 90 degrees on the outer peripheral surface (refer to 'O' in FIG. 2) of the pulley wheel 30 by arranging the first point A and the second point B, , The pulley wheel 30 housed in the guide 20 is automatically rotated in the direction in which the aligning projection 32 is located at the first point.

Accordingly, by adjusting the position of the first point, the automatic rotation direction of the pulley wheel 30, that is, the automatic alignment direction of the pulley wheel 30, can be adjusted.

For example, when the pulley wheel 30 is to be automatically aligned in a specific direction, the first point A is located at a position where the aligning protrusion 32 is positioned when the pulley wheel 30 is oriented in that direction, The shape of the cam portion 24 may be designed.

As described above, the guide 20 according to the present embodiment and the cam portion 24 formed on the inner circumferential surface thereof serve to automatically align the pulley wheel 30 and fix the position of the pulley wheel 30 in the aligned state .

On the other hand, when the adapter 1 according to the present embodiment is mounted on the surgical robot and the surgical instrument is mounted on the adapter 1, the pulley wheel 30 of the adapter 1 is freely rotated (rotated by the driving force from the robot) You must be in a state where you can do it. That is, in some cases, the fixed state of the pulley wheel 30 by the guide 20 needs to be released.

For this, the guide 20 according to the present embodiment can be elastically supported (elastically supported) by the spring 22 on the other surface of the base plate 10. [ That is, the guide 20 can be disposed while being supported by the spring 22 by placing the spring 22 on the other surface of the base plate 10 as shown in FIG. In addition, the guide 20 according to the present embodiment may be provided with a release protrusion 26 protruding in the direction of the cover plate 40.

When the guide 20 is supported by the spring 22 and the release protrusion 26 is provided as described above, the release protrusion 26 is pressed so that the guide 20 is brought into close contact with the base plate 10, Of the pulley wheel 30 due to the guide 20 is released because the alignment protrusion 32 is also separated from the cam portion 24 and is seated on the cam portion 24, The state can be released. Therefore, the pulley wheel 30 can be freely rotated by an external force.

The guide 20 according to the present embodiment normally aligns and fixes the pulley wheel 30 automatically, and when it is mounted on the robot, the fixed state is selectively released to allow the pulley wheel 30 to rotate freely can do.

As described above, the pulley wheel 30 is a wheel-shaped component to be housed in the inner circumferential portion of the guide 20, and one surface of the pulley wheel 30 is supported by the base 20 through the first through- Exposed on the plate 10, and the other surface thereof can be exposed to the cover plate 40 through the second through-hole 42. [

An alignment protrusion 32 seated on the cam portion 24 protrudes from the outer circumferential surface of the pulley wheel 30 so as to protrude from the outer circumferential surface of the pulley wheel 30. When the pulley wheel 30 is housed in the guide 20, The pulley wheel 30 is rotated and aligned so that the pulley wheel 30 is positioned at the first point.

When the shape of the cam portion 24 is designed to have four first points and four second points at intervals of 45 degrees on the inner circumferential surface of the guide 20 as in the above example, It is the same as the above-described embodiment that four (32) can be installed at intervals of 90 degrees.

The cover plate 40 is a component that is coupled to the base plate 10 to cover the above-described structures (spring 22, guide 20, pulley wheel 30) and is made of a plate material such as a metal plate or a plastic plate . The cover plate 40 is formed with a second through hole 42 corresponding to the position of the pulley wheel 30. When the cover plate 40 is coupled to the second through hole 42, .

When the release protrusion 26 is provided on the guide 20 to selectively release the state in which the guide 20 fixes the pulley wheel 30 as described above, the cover plate 40 is provided with the release protrusion 26 The third through hole 44 can be drilled in correspondence with the position. Thus, when the cover plate 40 is covered, the releasing protrusion 26 protrudes through the third through hole 44.

When the adapter 1 in which the pulley wheel 30 is exposed outside the cover plate 40 and the release projection 26 protrudes is mounted on the surgical robot, the pulley wheel 30 is aligned with the main wheel, Is pressed. When the releasing projection 26 is pressed, the restraint state of the pulley wheel 30 by the guide 20 is released and the pulley wheel 30 is freely rotatable by the external force, So that the pulley wheel 30 can rotate.

When the surgical instrument is mounted on the adapter 1 in this state, the driven wheel matched to the pulley wheel 30 is rotated in conjunction with the operation of the pulley wheel 30.

In order to further improve the matching between the pulley wheel 30 and the driven wheel, a matching groove 34 may be formed on the disk surface of the pulley wheel 30, and a matching projection (not shown) may be formed on the driven wheel. When the surgical instrument is mounted on the base plate 10, the matching protrusion of the driven wheel is inserted into the matching groove 34 of the pulley wheel 30, and the pulley wheel 30 and the driven wheel are matched with each other.

As shown in FIG. 4, the matching groove 34 formed in the pulley wheel 30 can be formed in a shape of a letter. Correspondingly, the mating protrusions formed on the driven wheel can be formed in a shape that can be inserted into the mating groove 34.

4, when the base plate 10 is provided with a fastening structure such as a guide rail, the surgical instrument is slid on a surface of the base plate 10 in a predetermined coupling direction (see 'x' So that the mating protrusions formed on the driven wheel are formed in a shape of letter-shape so as to be aligned in the x direction.

The pulley wheel 30 having the matching groove 34 formed therein so that the mating protrusion moving in the x direction can be inserted in the process of mounting the surgical instrument can be moved in the direction of the passage (see 'p' Direction (x direction).

The cam portion 24 according to the present embodiment is arranged such that the passage of the matching groove 34 is aligned in the direction of engagement, (30).

As described above, in order to rotate and align the pulley wheel 30 in the desired direction, the cam portion 24 (see Fig. 2) is positioned such that the first point is located at the position where the aligning projection 32 is positioned when the pulley wheel 30 is oriented in that direction ) Can be designed.

On the other hand, when the + -shaped matching groove 34 is formed in the pulley wheel 30, two passages are formed. Since the matching protrusions can be inserted into either of the passages, As shown in FIG. In this case, the pulley wheels 30 can be aligned while rotating at 90-degree intervals. To this end, it is possible to design the first and second points to be arranged alternately at intervals of 45 degrees in the cam portion 24, same.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

1: Adapter 10: Base plate
12: first through hole 20: guide
22: spring 24: cam portion
26: release protrusion 30: pulley wheel
32: alignment protrusion 34: matching groove
40: cover plate 42: second through hole
44: Third through hole

Claims (10)

A structure of an adapter interposed between a surgical instrument and a surgical robot to mediate driving force from a main wheel provided in the surgical robot to a driven wheel provided in the surgical instrument,
A base plate having a first through hole corresponding to a position of the driven wheel, the base plate having a first surface to which the surgical instrument is coupled;
A tube-shaped guide disposed on the other surface of the base plate so as to be positioned at an outer peripheral portion of the first through hole;
A pulley wheel housed in an inner circumferential portion of the guide so that one surface thereof is exposed through one side of the base plate through the first through hole;
And a cover plate coupled to the base plate while covering the guide so that a second through hole is punched corresponding to the position of the pulley wheel so that the other surface of the pulley wheel is exposed through the second through hole,
A cam portion is formed on an inner circumferential surface of the guide so as to connect a first point located close to the base plate and a second point located close to the cover plate, and an outer peripheral surface of the pulley wheel is seated on the cam portion And the pulley wheel is housed in an inner peripheral portion of the guide while rotating so that the aligning projection is located at the first point.
The method according to claim 1,
And a fastening structure is formed on one surface of the base plate to connect the surgical instrument.
The method according to claim 1,
Wherein the guide is provided on the other surface of the base plate by a spring and a releasing protrusion is formed in the guide in the direction of the cover plate, Wherein the hole is perforated, and the release protrusion protrudes through the third through hole as the cover plate is engaged.
The method of claim 3,
The alignment protrusion is disengaged from the cam portion by pressing the release protrusion so that the guide is in close contact with the base plate so that the pulley wheel is freely rotated by an external force, Adapter structure.
5. The method of claim 4,
The other surface of the pulley wheel exposed through the second through hole is matched with the main wheel and the releasing projection is pressed so that the pulley wheel is interlocked with the main wheel And is rotatable about the axis of rotation.
The method according to claim 1,
Wherein the first point and the second point are formed at intervals of 90 degrees along the inner circumferential surface of the guide, and the four first points and the four second points arranged at equal intervals on the inner circumferential surface of the guide are alternately And four alignment protrusions are formed on the outer circumferential surface of the pulley wheel at intervals of 90 degrees.
The method according to claim 6,
Wherein the matching plate is formed on the disc surface of the pulley wheel and a matching protrusion is provided on the driven wheel so that the surgical instrument is coupled to one surface of the base plate so that the matching protrusion is inserted into the matching groove, Wherein one surface of the wheel is matched with the driven wheel.
8. The method of claim 7,
Wherein the mating groove is formed in a shape of a letter, and the mating protrusion is protruded in a shape that can be inserted into the mating groove.
9. The method of claim 8,
Wherein the surgical instrument is slid in a predetermined coupling direction and is coupled to one surface of the base plate and the cam portion is formed to rotate the pulley wheel so that the passage of the matching groove faces the coupling direction Adapter structure for surgical robots.
The method according to claim 1,
Wherein the adapter is coupled to a sterile drape that covers the surgical robot and blocks the surgical robot from the surgical instrument.
KR1020150080177A 2015-06-05 2015-06-05 Adapter for surgical robot KR101633618B1 (en)

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Cited By (5)

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Publication number Priority date Publication date Assignee Title
KR20160132877A (en) * 2014-03-17 2016-11-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Mounting datum of surgical instrument
CN111405878A (en) * 2017-11-29 2020-07-10 柯惠Lp公司 Robotic surgical system, instrument drive assembly and drive assembly
CN113197674A (en) * 2021-06-07 2021-08-03 徐桂申 Multifunctional surgical operation auxiliary instrument vehicle
CN113476061A (en) * 2021-05-21 2021-10-08 上海微创医疗机器人（集团）股份有限公司 Membrane body installation mechanism
CN116551742A (en) * 2023-07-10 2023-08-08 科弛医疗科技(北京)有限公司 Surgical robot and method for initializing zero position of transmission shaft of instrument box

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특허문헌 1 : 미국 등록특허 US8,220,468호
특허문헌 2 : 미국 등록특허 US8,206,406호
특허문헌 3 : 미국 등록특허 US8,216,250호

Cited By (10)

* Cited by examiner, † Cited by third party
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KR20160132877A (en) * 2014-03-17 2016-11-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Mounting datum of surgical instrument
KR102443416B1 (en) 2014-03-17 2022-09-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Mounting datum of surgical instrument
CN111405878A (en) * 2017-11-29 2020-07-10 柯惠Lp公司 Robotic surgical system, instrument drive assembly and drive assembly
EP3716880A4 (en) * 2017-11-29 2021-12-22 Covidien LP Robotic surgical systems, instrument drive assemblies, and drive assemblies
US11826114B2 (en) 2017-11-29 2023-11-28 Covidien Lp Robotic surgical systems, instrument drive assemblies, and drive assemblies
CN113476061A (en) * 2021-05-21 2021-10-08 上海微创医疗机器人（集团）股份有限公司 Membrane body installation mechanism
CN113476061B (en) * 2021-05-21 2024-02-27 上海微创医疗机器人（集团）股份有限公司 Membrane body mounting mechanism
CN113197674A (en) * 2021-06-07 2021-08-03 徐桂申 Multifunctional surgical operation auxiliary instrument vehicle
CN116551742A (en) * 2023-07-10 2023-08-08 科弛医疗科技(北京)有限公司 Surgical robot and method for initializing zero position of transmission shaft of instrument box
CN116551742B (en) * 2023-07-10 2023-11-17 科弛医疗科技(北京)有限公司 Surgical robot and method for initializing zero position of transmission shaft of instrument box

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